WO2015013418A3 - Procédé de traitement de mesures d'éléments pendant une navigation inertielle assistée par la vision - Google Patents
Procédé de traitement de mesures d'éléments pendant une navigation inertielle assistée par la vision Download PDFInfo
- Publication number
- WO2015013418A3 WO2015013418A3 PCT/US2014/047839 US2014047839W WO2015013418A3 WO 2015013418 A3 WO2015013418 A3 WO 2015013418A3 US 2014047839 W US2014047839 W US 2014047839W WO 2015013418 A3 WO2015013418 A3 WO 2015013418A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- features
- vision
- inertial navigation
- processing feature
- feature measurements
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
- G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
Abstract
La présente invention concerne une plate-forme mobile équipée d'une caméra destinée à sortir des données d'images relatives à des éléments dont l'emplacement est inconnu, d'une unité de mesures inertielles destinée à sortir des mesures inertielles des éléments, les coordonnées des éléments étant inconnues, d'un processeur, d'une mémoire et d'un estimateur basé sur un filtre de Kalman étendu, exécutable sur le processeur et conçu pour traiter la mesure inertielle et les éléments des données d'images, un vecteur d'état de l'estimateur contenant une fenêtre glissante des états permettant de déterminer la position et l'orientation de la plate-forme mobile.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/907,210 US10247556B2 (en) | 2013-07-23 | 2014-07-23 | Method for processing feature measurements in vision-aided inertial navigation |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361857583P | 2013-07-23 | 2013-07-23 | |
US61/857,583 | 2013-07-23 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2015013418A2 WO2015013418A2 (fr) | 2015-01-29 |
WO2015013418A3 true WO2015013418A3 (fr) | 2015-09-03 |
Family
ID=52393971
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2014/047839 WO2015013418A2 (fr) | 2013-07-23 | 2014-07-23 | Procédé de traitement de mesures d'éléments pendant une navigation inertielle assistée par la vision |
Country Status (2)
Country | Link |
---|---|
US (1) | US10247556B2 (fr) |
WO (1) | WO2015013418A2 (fr) |
Families Citing this family (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9766074B2 (en) | 2008-03-28 | 2017-09-19 | Regents Of The University Of Minnesota | Vision-aided inertial navigation |
EP2730888A1 (fr) * | 2012-11-07 | 2014-05-14 | Ecole Polytechnique Federale de Lausanne EPFL-SRI | Procédé pour déterminer une direction et amplitude d'une estimation de vitesse de courant d'un dispositif mobile |
US9243916B2 (en) | 2013-02-21 | 2016-01-26 | Regents Of The University Of Minnesota | Observability-constrained vision-aided inertial navigation |
US9607401B2 (en) | 2013-05-08 | 2017-03-28 | Regents Of The University Of Minnesota | Constrained key frame localization and mapping for vision-aided inertial navigation |
US10012504B2 (en) | 2014-06-19 | 2018-07-03 | Regents Of The University Of Minnesota | Efficient vision-aided inertial navigation using a rolling-shutter camera with inaccurate timestamps |
US9658070B2 (en) | 2014-07-11 | 2017-05-23 | Regents Of The University Of Minnesota | Inverse sliding-window filters for vision-aided inertial navigation systems |
US9709404B2 (en) | 2015-04-17 | 2017-07-18 | Regents Of The University Of Minnesota | Iterative Kalman Smoother for robust 3D localization for vision-aided inertial navigation |
US9817682B2 (en) | 2015-05-18 | 2017-11-14 | Goodrich Corporation | System architecture for machine vision on moving platforms |
US9983558B2 (en) | 2015-05-22 | 2018-05-29 | Goodrich Corporation | Control systems state vector management using co-processing and multiport ram |
JP6320542B2 (ja) * | 2015-05-23 | 2018-05-09 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | 初期構成を有する複数のセンサを有する可動物体に対する1または複数の外部パラメータを推定する方法、システム、及びプログラム |
CN105203129B (zh) * | 2015-10-13 | 2019-05-07 | 上海华测导航技术股份有限公司 | 一种惯导装置初始对准方法 |
US10203209B2 (en) | 2016-05-25 | 2019-02-12 | Regents Of The University Of Minnesota | Resource-aware large-scale cooperative 3D mapping using multiple mobile devices |
US11466990B2 (en) * | 2016-07-22 | 2022-10-11 | Regents Of The University Of Minnesota | Square-root multi-state constraint Kalman filter for vision-aided inertial navigation system |
US10838427B2 (en) * | 2016-10-26 | 2020-11-17 | The Charles Stark Draper Laboratory, Inc. | Vision-aided inertial navigation with loop closure |
GB201621903D0 (en) | 2016-12-21 | 2017-02-01 | Blue Vision Labs Uk Ltd | Localisation |
US10846541B2 (en) | 2017-01-04 | 2020-11-24 | Qualcomm Incorporated | Systems and methods for classifying road features |
JP7221203B2 (ja) | 2017-01-23 | 2023-02-13 | オックスフォード ユニヴァーシティ イノヴェーション リミテッド | モバイル装置の位置特定方法 |
AU2018209336B2 (en) | 2017-01-23 | 2021-11-18 | Oxford University Innovation Limited | Determining the location of a mobile device |
US10907971B2 (en) | 2017-12-08 | 2021-02-02 | Regents Of The University Of Minnesota | Square root inverse Schmidt-Kalman filters for vision-aided inertial navigation and mapping |
US10325411B1 (en) | 2017-12-13 | 2019-06-18 | The Charles Stark Draper Laboratory, Inc. | Egocentric odometry system for maintaining pose alignment between real and virtual worlds |
GB201804079D0 (en) * | 2018-01-10 | 2018-04-25 | Univ Oxford Innovation Ltd | Determining the location of a mobile device |
US11940277B2 (en) | 2018-05-29 | 2024-03-26 | Regents Of The University Of Minnesota | Vision-aided inertial navigation system for ground vehicle localization |
FR3086385A1 (fr) * | 2018-09-21 | 2020-03-27 | Valeo Schalter Und Sensoren Gmbh | Procede et systeme de calibration de capteurs embarques dans un vehicule automobile en mouvement |
EP4025872A1 (fr) * | 2019-07-26 | 2022-07-13 | Continental Automotive GmbH | Procédé de détermination d'un état de navigation d'un véhicule |
CN112461258A (zh) * | 2019-09-06 | 2021-03-09 | 北京三快在线科技有限公司 | 一种参数修正的方法及装置 |
US11808578B2 (en) * | 2020-05-29 | 2023-11-07 | Aurora Flight Sciences Corporation | Global positioning denied navigation |
US11875519B2 (en) * | 2020-08-13 | 2024-01-16 | Medhat Omr | Method and system for positioning using optical sensor and motion sensors |
WO2023101662A1 (fr) * | 2021-11-30 | 2023-06-08 | Innopeak Technology, Inc. | Procédés et systèmes pour mettre en œuvre une odométrie visuelle-inertielle sur la base d'un traitement simd parallèle |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090022369A1 (en) * | 2005-02-04 | 2009-01-22 | Canon Kabushiki Kaisha | Position/orientation measurement method and apparatus |
US20130138247A1 (en) * | 2005-03-25 | 2013-05-30 | Jens-Steffen Gutmann | Re-localization of a robot for slam |
US20130191019A1 (en) * | 2012-01-23 | 2013-07-25 | Qualcomm Incorporated | Methods and apparatuses for use in mobile device state/trajectory estimation within an indoor environment |
Family Cites Families (5)
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---|---|---|---|---|
US7602415B2 (en) * | 2003-01-17 | 2009-10-13 | Insitu, Inc. | Compensation for overflight velocity when stabilizing an airborne camera |
US8260036B2 (en) * | 2007-05-09 | 2012-09-04 | Honeywell International Inc. | Object detection using cooperative sensors and video triangulation |
US9766074B2 (en) * | 2008-03-28 | 2017-09-19 | Regents Of The University Of Minnesota | Vision-aided inertial navigation |
US8570320B2 (en) * | 2011-01-31 | 2013-10-29 | Microsoft Corporation | Using a three-dimensional environment model in gameplay |
US9243916B2 (en) * | 2013-02-21 | 2016-01-26 | Regents Of The University Of Minnesota | Observability-constrained vision-aided inertial navigation |
-
2014
- 2014-07-23 US US14/907,210 patent/US10247556B2/en not_active Expired - Fee Related
- 2014-07-23 WO PCT/US2014/047839 patent/WO2015013418A2/fr active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090022369A1 (en) * | 2005-02-04 | 2009-01-22 | Canon Kabushiki Kaisha | Position/orientation measurement method and apparatus |
US20130138247A1 (en) * | 2005-03-25 | 2013-05-30 | Jens-Steffen Gutmann | Re-localization of a robot for slam |
US20130191019A1 (en) * | 2012-01-23 | 2013-07-25 | Qualcomm Incorporated | Methods and apparatuses for use in mobile device state/trajectory estimation within an indoor environment |
Also Published As
Publication number | Publication date |
---|---|
US10247556B2 (en) | 2019-04-02 |
US20160161260A1 (en) | 2016-06-09 |
WO2015013418A2 (fr) | 2015-01-29 |
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